SECONDARY STEERING SYSTEM UNIT, SECONDARY STEERING SYSTEM, VEHICLE AND A METHOD FOR SECONDARY STEERING

A vehicle (50), a method (100), a secondary steering system unit (40) and a secondary steering system (36) are provided. The secondary steering system unit (40) comprises: a fault determination arrangement (41), arranged to determine the presence of a fault in the main steering system and a path controller (42), arranged to generate an upcoming path (P) for the host vehicle (50). The secondary steering system unit (40) is arranged to steer the host vehicle (50) along the path (P) by differential braking upon determination that a fault is present in the main steering system and is arranged to steer the differential braking in dependence of both a yaw torque (T) acting on the host vehicle (50) as a result of the differential braking and a steering angle resulting from a generated alignment torque on a braked steerable wheel (10) caused by the associated wheel suspension scrub radius (27).